Abstract
Dual-robot collaborative welding has been widely used in the field of automation due to its flexibility. However, the jiggle in the welding process will inevitably affect the welding quality to a certain extent. For this reason, a trajectory-smooth optimization methodology based on the stationarity function is proposed in this paper. Based on the existing welding platform, the trajectory-smooth optimization of complex space weld path for dual-robot collaborative welding is studied. The motion stability function of the robot is established, and the dual-robot workspace is achieved by means of Monte Carlo method. On this basis, the optimal space point is searched to ensure the stability of the whole welding process. Finally, a saddle type space weld is taken as an example for simulation, and the results before and after optimization are compared and analyzed to verify the effectiveness and feasibility of the proposed methodology.
Supported by the Natural Science Foundation of China (51805380, 51875415), the Innovation Group Foundation of Hubei (2019CFA026), and Graduate Education Innovation Foundation of Wuhan Institute of Technology (CX2020045).
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Xiong, J., Fu, Z., Li, M., Gao, Z., Zhang, X., Chen, X. (2021). Trajectory-Smooth Optimization and Simulation of Dual-Robot Collaborative Welding. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13014. Springer, Cham. https://doi.org/10.1007/978-3-030-89098-8_66
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